Journal
AUTOMATICA
Volume 49, Issue 8, Pages 2489-2495Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.04.034
Keywords
Differentiator; Robustness; Sliding-mode control
Funding
- CONACyT [56819, 132125, 51244, CVU 229959]
- Fondo de Colaboracion del II-FI
- UNAM
- [PAPIIT 17211]
- [IN111012]
- [IISGBAS-165-2011]
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An arbitrary order differentiator that, in the absence of noise, converges to the true derivatives of the signal after a finite time independent of the initial differentiator error is presented. The only assumption on a signal to be differentiated (n - 1) times is that its n-th derivative is uniformly bounded by a known constant. The proposed differentiator switches from a newly designed uniform differentiator to the classical High-Order Sliding Mode (HOSM) differentiator. The Uniform part drives the differentiation error trajectories into a compact neighborhood of the origin in a time that is independent of the initial differentiation error. Then, the HOSM differentiator is used to bring the differentiation error to zero in (C) 2013 Elsevier Ltd. All rights reserved.
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