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A Discrete-Time Matching Filtering Differentiator

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Document pages: 7 pages

Abstract: This paper presents a time discretization of the robust exact filteringdifferentiator, a sliding mode differentiator coupled to filter, which providesa suitable approximation to the derivatives of some noisy signals. Thisproposal takes advantage of the homogeneity of the differentiator, allowing theuse of similar techniques to those of the linear systems. As in the originalcase, the convergence robust exact filtering differentiator depends on thebound of a higher-order derivative; nevertheless, this new realization can beimplemented with or without the knowledge of such constant. It is demonstratedthat the system s trajectories converge to a neighborhood of the origin with afree-noise input. Finally, comparisons between the behavior of thedifferentiator with different design parameters are presented.

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