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Linear time-derivative trackers
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DOI：10.1016/j.automatica.2003.09.020.png)
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Abstract
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The design of an ideal differentiator is a difficult and a challenging task. In this paper we discuss the properties and the limitations of two different structures of linear differentiation systems. The first time-derivative observer is formulated as a high-gain observer where the observer gain is calculated through a Lyapunov-like dynamical equation. The second one is given in Brunovski form in which the output to be differentiated appears as a control input and the differentiation gain is calculated from the dual Lyapunov equation of the first differentiation observer. A discrete-time version of the second form is given. Finally, illustrative examples are presented to show their strengths and weaknesses. (C) 2003 Elsevier Ltd. All rights reserved.
Keywords:
differentiation
Lyapunov theory
time-varying systems
discrete-time systems
observers
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