The robust exact differentiator toolbox revisited: Filtering and discretization features

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


An extended version of a Simulink® -block providing on-line differentiation algorithms based on discretized sliding-mode concepts is presented. Based on user-specified settings it computes estimates of the time-derivatives of the input signal up to order ten. Different discrete-time estimation algorithms as well as optional filtering properties can be selected. The paper includes an overview of the implemented algorithms, a detailed explanation of the developed Simulink® -block and two examples. The first example illustrates the application of the toolbox in a numerical simulation environment whereas the second one shows results obtained via an electrical laboratory setup.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Mechatronics, ICM 2021
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Electronic)9781728144429
Publication statusPublished - 7 Mar 2021
Event2021 IEEE International Conference on Mechatronics: ICM 2021 - Virtuell, Japan
Duration: 7 Mar 20219 Mar 2021


Conference2021 IEEE International Conference on Mechatronics
Abbreviated titleICM 2021


  • MATLAB/Simulink-toolbox
  • On-line discrete-time differentiation
  • Signal filtering
  • Sliding-mode observation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization


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