Class of Recursive Wideband Digital Differentiators and Integrators

New designs of recursive digital differentiators are obtained by optimizing a general fourth-order recursive digital filter over different Nyquist bands. In addition, another design of recursive digital differentiator is also obtained by optimizing the specified pole-zero locations of existing recursive digital differentiator of second-order system. Further, new designs of recursive digital integrators are obtained by inverting the transfer functions of designed recursive digital differentiators with suitable modifications. Thereafter, the zero-reflection approach is discussed and then applied to improve the phase responses of designed recursive digital differentiators and integrators. The beauty of finally obtained recursive digital differentiators and integrators is that they have nearly linear phase responses over wideband and also provide the choice of suitable recursive digital differentiator and integrator according to the importance of accuracy, bandwidth and the system simplicity

Complex order control for improved loop-shaping in precision positioning

This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loop-shaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter

DESIGN OF FIRST ORDER DIFFERENTIATOR WITH PARALLEL ALL-PASS STRUCTURE

In this paper a new method for design of the first order differentiator is presented. The proposed differentiator consists of two parallel branches, i.e. direct path and IIR all-pass filter. The described design method allows one to obtain solution with minimum mean relative error at the desired region by controlling the ratio of phase response extremes. A small relative magnitude error, as well as a low phase error, at low frequencies is condition for good time domain behaviour. The obtained differentiator can be realized by means of only two multipliers, hence being a good choice for real time applications. The proposed solution provides a lower magnitude error than several known differentiators with similar phase error

Improved IIR Low-Pass Smoothers and Differentiators with Tunable Delay

Regression analysis using orthogonal polynomials in the time domain is used to derive closed-form expressions for causal and non-causal filters with an infinite impulse response (IIR) and a maximally-flat magnitude and delay response. The phase response of the resulting low-order smoothers and differentiators, with low-pass characteristics, may be tuned to yield the desired delay in the pass band or for zero gain at the Nyquist frequency. The filter response is improved when the shape of the exponential weighting function is modified and discrete associated Laguerre polynomials are used in the analysis. As an illustrative example, the derivative filters are used to generate an optical-flow field and to detect moving ground targets, in real video data collected from an airborne platform with an electro-optic sensor.Comment: To appear in Proc. International Conference on Digital Image Computing: Techniques and Applications (DICTA), Adelaide, 23rd-25th Nov. 201

Stability of closed-loop fractional-order systems and definition of damping contours for the design of controllers

Fractional complex order integrator has been used since 1991 for the design of robust control-systems. In the CRONE control methodology, it permits the parameterization of open loop transfer function which is optimized in a robustness context. Sets of fractional order integrators that lead to a given damping factor have also been used to build iso-damping contours on the Nichols plane. These iso-damping contours can also be used to optimize the third CRONE generation open-loop transfer function. However, these contours have been built using non band-limited integrators, even if such integrators reveal to lead to unstable closed loop systems. One objective of this paper is to show how the band-limitation modifies the left half-plane dominant poles of the closed loop system and removes the right half-plane ones. It is also presented how to obtain a fractional order open loop transfer function with a high phase slope and a useful frequency response. It is presented how the damping contours can be used to design robust controllers, not only CRONE controllers but also PD and QFT controllers

Fractional Order PID Controller Tuning by Frequency Loop-Shaping: Analysis and Applications

abstract: The purpose of this dissertation is to develop a design technique for fractional PID controllers to achieve a closed loop sensitivity bandwidth approximately equal to a desired bandwidth using frequency loop shaping techniques. This dissertation analyzes the effect of the order of a fractional integrator which is used as a target on loop shaping, on stability and performance robustness. A comparison between classical PID controllers and fractional PID controllers is presented. Case studies where fractional PID controllers have an advantage over classical PID controllers are discussed. A frequency-domain loop shaping algorithm is developed, extending past results from classical PID’s that have been successful in tuning controllers for a variety of practical systems.Dissertation/ThesisDoctoral Dissertation Electrical Engineering 201

Optimal design of linear phase FIR digital filters with very flat passbands and equiripple stopbands

A new technique is presented for the design of digital FIR filters, with a prescribed degree of flatness in the passband, and a prescribed (equiripple) attenuation in the stopband. The design is based entirely on an appropriate use of the well-known Reméz-exchange algorithm for the design of weighted Chebyshev FIR filters. The extreme versatility of this algorithm is combined with certain "maximally flat" FIR filter building blocks, in order to generate a wide family of filters. The design technique directly leads to structures that have low passband sensitivity properties