Velocity and acceleration estimation via quantization step aware convex optimization: real-time implementation on FPGA

Estimating velocity and acceleration from an encoder requires high accuracy and wide bandwidth in motion control. This study aims to estimate velocity and acceleration by explicitly considering the quantization process of the encoder. This paper proposes a quantization step aware convex optimization method that makes it numerically easier to solve. Its solution can be accelerated by applying the proposed initial value. The developed approach improves the estimation accuracy from the encoder’s sequential outputs. The improvement of the accuracy and the possibility of its real-time use are validated by the implementation on FPGA.