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Conference papers

Discrete Sliding-Mode-Based Differentiators

Jean-Pierre Barbot 1, 2 Arie Levant 3 Miki Livine 3 Davin Lunz 4
1 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189, Inria Lille - Nord Europe
Abstract : Sliding-mode-based differentiators of the input f(t) of the order k yield exact estimations of the derivatives f(1), … f(k), provided an upper bound of |f(k+1)(t)| is available in real time. Practical application involves discrete noisy sampling of f and numeric integration of the internal variables between the measurements. The corresponding asymptotic differentiation accuracies are calculated in the presence of Euler integration and discrete sampling, whereas both independently feature variable or constant time steps. Proposed discrete differentiators restore the optimal accuracy of their continuous-time counterparts. Simulation confirms the presented results.
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Contributor : Jean-Pierre Barbot <>
Submitted on : Tuesday, June 28, 2016 - 12:10:29 PM
Last modification on : Wednesday, April 28, 2021 - 11:17:18 PM


  • HAL Id : hal-01338297, version 1


Jean-Pierre Barbot, Arie Levant, Miki Livine, Davin Lunz. Discrete Sliding-Mode-Based Differentiators. The 14th International Workshop on Variable Structure Systems (VSS 2016), Jun 2016, Nanjing, Jiangsu, China. ⟨hal-01338297⟩



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