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

Abstract : 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.
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https://hal.inria.fr/hal-03125960
Contributor : Mohammad Rasool Mojallizadeh Connect in order to contact the contributor
Submitted on : Saturday, January 30, 2021 - 12:38:12 AM
Last modification on : Friday, January 21, 2022 - 3:20:23 AM

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  • HAL Id : hal-03125960, version 1

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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-03125960⟩

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