Abstract
This paper is dedicated to the experimental analysis of discrete-time differentiators implemented in closed-loop control systems. To this end, an electro-pneumatic system has been employed as the case study to implement 25 different differentiators including the exact differentiators and linear filters. The validity of several theoretical results, which have been already reported in the literature based on the analytical analysis and numerical simulations, has been investigated experimentally, and several comments are provided to allow one to select an appropriate differentiation scheme in practical closed-loop control systems.
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