Robust exact filtering differentiators

Arie Levant*, Miki Livne

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

58 Scopus citations


Filtering differentiators are capable both of rejecting large noises and exactly differentiating smooth signals. Even unbounded noises are rejected provided their local average is small. A special type constitute tracking filtering differentiators producing smooth outputs being derivatives one of another. Discrete filter versions are proposed, and the accuracy asymptotics are studied in the presence of noises and discrete sampling. Extensive computer simulation confirms the theoretical results.

Original languageEnglish
Pages (from-to)33-44
Number of pages12
JournalEuropean Journal of Control
StatePublished - Sep 2020


  • Homogeneity
  • Nonlinear observation
  • Sampled systems
  • Sliding mode control


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