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Knowledge of velocity is crucial to certain industrial applications involving high-bandwidth modeling and control. In conventional approaches, the velocities obtained from encoders or tachometers are quite noisy, and low-pass filters are usually engaged to generate usable velocity signals. The low-pass filter, however, causes significant phase lag that can severely affect both modeling and control...
Velocity estimation is crucial to certain robotic applications involving high bandwidth modeling and control. In the conventional approaches, the velocities generated from encoders or tachometers are quite noisy and low-pass filters are usually engaged to generate usable velocity signals. The low-pass filter, however, cause non negligible phase lag that may severely affect both modeling and control...
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