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How to Decide the Parameters of ESDS
Takanori Emaru and Takeshi Tsuchiya
Transactions of the Japan Society of Mechanical Engineers, Series C, vol.67Cno.664Cpp.3844-3849 (2001).


  Abstract
In our previous research, we proposed a new technique to Estimate the Smoothed value and the Differential value of the sensor inputs by using Sliding mode system (ESDS). This filter is able to eliminate the impulsive noise efficiently. However, because ESDS is non linear system, it is very difficult to clarify the behavior of system analytically. Consequentially, we deal with the step function with impulsive noise as an example, and we attempt to eliminate this impulsive noise by keeping the sudden shift of signals. According to these considerations, we clarify the relation between the characteristics of ESDS and the arbitrary parameters.
 
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(c) Laboratory of Robotics and Dynamics, Hokkaido University