An interconnected discrete time cascaded semi-implicit differentiation

This study is dedicated to the design of a digital differentiator for a triple integrator. A cascade of two interconnected semi-implicit Euler double differentiators approach is proposed. This allows the digital differentiator to benefit from similar structure of second order discrete-time homogeneous differentiators, such as modularity and more degree of freedom regarding the parameter settings. Numerical results are presented to support the rightness of the proposed method.