An Experimental Investigation of Discretized Homogeneous Differentiators: Pneumatic Actuator Case

Abstract

It is well known that the homogeneous differentiator strategies reduce the chattering in the implementation of sliding-mode algorithms and the recent implicit framework based projector provides very interesting properties when associated with homogeneous design. In this article, it is proposed to evaluate different strategies of homogeneous differentiators based on Euler explicit and promising Euler semi-implicit strategies, for which discrete implementations have been realized on a pneumatic actuator. Experimental results highlight the benefit of a Euler semi-implicit-based structure using a projector.