A semi-implicit homogeneous discretized differentiator based on two projectors: experimental validation on a cable-driven parallel robot

High fidelity models for control and optimization

Open Access

Fig. 6

Experimental data for the fourth motor: (top) Recording angular positions defined by (q₁); estimated angular position defined by thanks to the differentiator SIHD-2; (middle) estimated angular velocity and (bottom) estimated angular acceleration respectively thanks to the differentiator SIHD-2 and the observer proposed by Diop et al. [10],

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