AlgDiff 2.1.1

AlgDiff is a Python class implementing all necessary tools for the design, analysis, and discretization of algebraic differentiators. An interface to Matlab is also provided.

Installation

To use AlgDiff using pip run the following in the command line:

$ pip install AlgDiff

Some examples

To initialize an algebraic differentiator with parameter \(T=0.1\), \(\alpha=\beta=4\), \(N=0\) and a sampling period of the measured signal equal to \(ts=0.01\) do the following:

>>> from AlgDiff import *
>>> g = AlgebraicDifferentiator(N=0,alpha=4.,beta=4,T=0.1, ts=0.01)

The cutoff frequency in rad/s of this differentiator can be computed by

>>> wc = g.get_cutoffFreq()

The first order derivative of a signal \(y\) given as a numpy array and sampled by \(ts=0.01\) can be achieved by

>>> dydt = g.estimateDer(1,y) # y is a numpy array

Further detailed examples are provided in the jupyter notebooks given the repository. Therein three different notebooks are provided:

• A quick start with a very brief introduction

• A detailed discussion of algebraic differentiators

• The simultaneous simultaneous elimination of a harmonic disturbance and approximation of derivatives