A Derivative Estimation Toolbox based on Algebraic Methods - Theory and Practice

In this paper, the implementation and usage of a so-called Derivative Estimation Toolbox is demonstrated. By means of this toolbox, time derivatives of sampled, noisy time signals may be determined in realtime, all based on a recently presented algebraic derivative estimation method. The main contribution is a possible implementation on a prototyping control unit. The performance of the Derivative Estimation Toolbox is experimentally validated on a brake-testbench. In particular, the friction force and the drive torque are estimated in realtime.