Publication | Other papers |
The robust exact differentiator toolbox revisited: Filtering and discretization features.
Andritsch B, Horn M, Koch S, Niederwieser H, Wetzlinger M, Reichhartinger M.
Published 2021
Citation: Andritsch B, Horn M, Koch S, Niederwieser H, Wetzlinger M, Reichhartinger M. The robust exact differentiator toolbox revisited: Filtering and discretization features. in 2021 IEEE International Conference on Mechatronics, ICM 2021. Institute of Electrical and Electronics Engineers. 2021. 9385675 https://doi.org/10.1109/ICM46511.2021.9385675
Abstract
An extended version of a Simulink ® -block providing on-line differentiation algorithms based on discretized sliding-mode concepts is presented. Based on user-specified settings it computes estimates of the time-derivatives of the input signal up to order ten. Different discrete-time estimation algorithms as well as optional filtering properties can be selected. The paper includes an overview of the implemented algorithms, a detailed explanation of the developed Simulink ® -block and two examples. The first example illustrates the application of the toolbox in a numerical simulation environment whereas the second one shows results obtained via an electrical laboratory setup.