Implicit discrete-time implementation of robust exact differentiators – a toolbox

Abstract This article presents the numerical implementation of the recently proposed implicit robust exact differentiator (IRED), which constitutes a proper implicit discretization of Levant’s continuous-time robust exact differentiator (RED). A novel parameter setting is proposed that allows for an implementation without numerical approximations, which are otherwise required for resolving the implicit relations. Algorithms for the proposed and for general parameter settings are given, and a Simulink toolbox, available at the URL https://github.com/seeberr/ired_toolbox , is presented that implements the algorithms with an easy-to-use interface.