Adaptive differentiating filter: case study of PID feedback control
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arXiv
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866918415197798400 |
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| author | Pavlov, Alexey Ruderman, Michael |
| author_facet | Pavlov, Alexey Ruderman, Michael |
| contents | This paper presents an adaptive causal discrete-time filter for derivative estimation, exemplified by its use in estimating relative velocity in a mechatronic application. The filter is based on a constrained least squares estimator with window adaptation. It demonstrates low sensitivity to low-amplitude measurement noise, while preserving a wide bandwidth for large-amplitude changes in the process signal. Favorable performance properties of the filter are discussed and demonstrated in a practical case study of PID feedback controller and compared experimentally to a standard linear low-pass filter-based differentiator and a robust sliding-mode based homogeneous differentiator. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_27615 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Adaptive differentiating filter: case study of PID feedback control Pavlov, Alexey Ruderman, Michael Systems and Control This paper presents an adaptive causal discrete-time filter for derivative estimation, exemplified by its use in estimating relative velocity in a mechatronic application. The filter is based on a constrained least squares estimator with window adaptation. It demonstrates low sensitivity to low-amplitude measurement noise, while preserving a wide bandwidth for large-amplitude changes in the process signal. Favorable performance properties of the filter are discussed and demonstrated in a practical case study of PID feedback controller and compared experimentally to a standard linear low-pass filter-based differentiator and a robust sliding-mode based homogeneous differentiator. |
| title | Adaptive differentiating filter: case study of PID feedback control |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.27615 |