Optimal robust exact first-order differentiators with Lipschitz continuous output
Abstract
The signal differentiation problem involves the development of algorithms that allow to recover a signal's derivatives from noisy measurements. This paper develops a first-order differentiator with the following combination of properties: robustness to measurement noise, exactness in the absence of noise, optimal worst-case differentiation error, and Lipschitz continuous output where the output's Lipschitz constant is a tunable parameter. This combination of advantageous properties is not shared by any existing differentiator. Both continuous-time and sample-based versions of the differentiator are developed and theoretical guarantees are established for both. The continuous-time version of the differentiator consists in a regularized and sliding-mode-filtered linear adaptive differentiator. The sample-based, implementable version is then obtained through appropriate discretization. An illustrative example is provided to highlight the features of the developed differentiator.
Cite
@article{arxiv.2404.05863,
title = {Optimal robust exact first-order differentiators with Lipschitz continuous output},
author = {Rodrigo Aldana-Lopez and Richard Seeber and Hernan Haimovich and David Gomez-Gutierrez},
journal= {arXiv preprint arXiv:2404.05863},
year = {2025}
}