Design and analysis of stable differentiator-predictor

Abstract

In this paper, the phase lead by the general phase-lead compensator is analyzed, and a criterion of its parameters selection is proposed. In order to get the relatively large time-interval prediction for stochastic signal, two types of differentiator-predictors are presented to estimate future signal and its derivatives: linear high-gain differentiator-predictor and nonlinear differentiatorpredictor. Furthermore, a nonlinear extended differentiator-predictor is designed for future estimation and chattering rejection. The stability analysis of differentiator-predictors is described in time domain. The iterative transfer function method is proposed to analyze the robustness in frequency domain, and the rules of differentiator-predictor parameters selection are presented. The analysis shows that the nonlinear differentiator-predictor has stronger adaptability and robustness than the linear high-gain differentiator-predictor. Simulations demonstrate the effectiveness of the proposed methods.