鲁棒精确滤波微分器的离散化
On the Discretization of Robust Exact Filtering Differentiators
摘要：
本文研究鲁棒滤波微分器的离散算法设计。介绍了滤波微分器的两种离散时间实现。第一个，这是基于一个精确的离散化的连续微分器，是一个明确的，而第二个是一个隐式算法，使消除数值抖动现象，并保持估计精度属性。所提出的方案和现有的离散时间算法之间的一些数值比较表明，所提出的隐式离散时间实现的滤波微分器的兴趣，特别是当大的采样周期被认为是。
英文摘要：
This paper deals with the design of discrete-time algorithms for the robust filtering differentiator. Two discrete-time realizations of the filtering differentiator are introduced. The first one, which is based on an exact discretization of the continuous differentiator, is an explicit one, while the second one is an implicit algorithm which enables to remove the numerical chattering phenomenon and to preserve the estimation accuracy properties. Some numerical comparisons between the proposed scheme and an existing discrete-time algorithm show the interest of the proposed implicit discrete-time realization of the filtering differentiator, especially when large sampling periods are considered.
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