High-order integral-chain differentiator and application to acceleration feedback

Details High-order integral-chain differentiator and application to acceleration feedback High-order integral-chain differentiator and application to acceleration feedback

2011-02-13

arxiv.org/abs/1102.2600v1

Computer Science

Systems and Control

Scientific paper

The equivalence between integral-chain differentiator and usual high-gain differentiator is given under suitable coordinate transformation. Integral-chain differentiator can restrain noises more thoroughly than usual high-gain linear differentiator. In integral-chain differentiator, disturbances only exist in the last differential equation and can be restrained through each layer of integrator. Moreover, a nonlinear integral-chain differentiator is designed which is the expansion of linear integral-chain differentiator. Finally, a 3-order differentiator is applied to the estimation of acceleration for a second-order uncertain system.

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