Discrete-time differentiators in closed-loop control systems: experiments on electro-pneumatic system and rotary inverted pendulum

Mohammad Rasool Mojallizadeh (1) , Bernard Brogliato (1) , Andrey Polyakov (2) , Subiksha Selvarajan (3) , Loïc Michel (3) , Franck Plestan (3) , Malek Ghanes (3) , Jean-Pierre Barbot (3) , Yannick Aoustin (3)

1 TRIPOP - Modélisation, simulation et commande des systèmes dynamiques non lisses
2 VALSE - Finite-time control and estimation for distributed systems
3 LS2N - Laboratoire des Sciences du Numérique de Nantes

This paper is dedicated to the experimental analysis of discrete-time differentiators implemented in closed-loop control systems. To this end, two laboratory setups, namely an electro-pneumatic system and a rotary inverted pendulum have been used to implement 25 different differentiators. Since the selected laboratory setups behave differently in the case of dynamic response and noise characteristics, it is expected that the results remain valid for a wide range of control applications. The validity of several theoretical results, which have been already reported in the literature using mathematical analysis and numerical simulations, has been investigated, and several comments are provided to allow one to select an appropriate differentiation scheme in practical closed-loop control systems.

Mots clés: electro-pneumatic system; rotary inverted pendulum; experimental data; discrete-time differentiator; implicit discretization; explicit discretization

Domaines: Automatique; Analyse numérique [cs.NA]

Mohammad Rasool Mojallizadeh, Bernard Brogliato, Andrey Polyakov, Subiksha Selvarajan, Loïc Michel, et al.. Discrete-time differentiators in closed-loop control systems: experiments on electro-pneumatic system and rotary inverted pendulum. [Research Report] INRIA Grenoble. 2021. ⟨hal-03125960v1⟩