Low-chattering discretization of homogeneous differentiators

Avi Hanan, Arie Levant, Adam Jbara

Research output: Contribution to journalArticlepeer-review


The proposed simple modification of discrete homogeneous sliding-mode-based differentiators improves the accuracy and significantly lowers the output chattering in the absence of noises, while preserving the differentiation accuracy in their presence. The approach is extended to general discretely sampled homogeneous discontinuous systems. Numeric experiments confirm the theoretical results.

Original languageEnglish
JournalIEEE Transactions on Automatic Control
StateAccepted/In press - 2021


  • Asymptotic stability
  • Convergence
  • Estimation
  • Heuristic algorithms
  • Lips
  • Real-time systems
  • Sliding-mode control
  • Standards
  • discrete event systems
  • estimation
  • nonlinear filtering
  • uncertain systems


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