A noise less-sensing semi-implicit discretization of a homogeneous differentiator: principle and application

Based on the projector introduced in recent Euler semi-implicit methods, the main contribution of this paper is the reduction of the effect of noise on the sliding surface of the discretized homogeneous differentiator. For that, an adaptation law according to the magnitude of the high frequency noise is proposed to modify the behavior of the projector when the discretized differentiator remains on the sliding surface. Experimental results are shown in order to highlight the well founded of the contribution.