Chebyshev polynomial-based higher-order derivatives estimation from an encoder

The quantization noise in the encoder, which is a position sensor, is one factor that deteriorates the estimation performance of higher-order derivatives of position, such as velocity and acceleration. This paper aims to develop a method with smaller estimation errors than conventional methods. This paper proposes a Chebyshev polynomial-based estimation method for general higher-order derivatives. The proposed method enables better rejection of quantization noise from the measured data than using the frequency-domain method. The performance of the proposed method is validated by velocity and acceleration estimation simulations.