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In this paper, a new algebraic approach to the on-line signal derivatives estimation is proposed. The proposed approach is based on the conversion of the truncated Taylor series expansion to the set of linearly independent equations regarding the signal derivatives. The nonhomogeneous parts of the obtained set of equations are convolution integrals, which can be transformed to the stable linear state-space filter realization. The proposed algebraic estimator provides stable convergence without the need for periodic re-initialization, as in the case of the conventional algebraic estimators. In contrast to the Taylor series-based tracking differentiators, the proposed estimator also provides an estimation of the arbitrary number of the higher-order signal derivatives. In addition, the tuning of the estimator parameters does not depends on the filter dimension. The efficiency of the proposed estimator is illustrated by the simulation examples and experimental results related to the monitoring of the surgical drilling process. 相似文献
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A simple apparatus for an experiment often performed during introductory lectures on free fall is described. Collected data of the free fall times are given and the standard calculation of the acceleration of free fall g including error evaluation is presented. The obtained value for g is compared to values given by International Gravity Formula, and to experimental results for the location in Zagreb, where this experiment is performed, as well as values found in the literature. Calculations of corrections and contributions due to resistive forces of the medium, both linear and quadratic in velocity, as well as buoyancy and inertial forces in non-inertial reference frames are included and thoroughly discussed. 相似文献
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