DESIGN OF AUTOMATIC DIFFERENTIATORS USING BUTTERWORTH POLYNOMIALS
The article considers a method for constructing of automatic differentiators using Butterworth polynomials. The synthesis of differentiators is reduced to the construction of a tracking system for a plant that is a serial connection of integrators. The poles of differentiators are the roots of Butterworth polynomials. The roots of the Butterworth polynomial are located on a circle of a certain radius equidistant from each other in the left half-plane of the complex plane. The radius of the circle is determined by the cutoff frequency. The constructed automatic differentiators perform asymptotically accurate differentiation of signals from a fairly wide class. The class of differentiable signals is defined by a set of continuously differentiable functions with a bounded high derivative. The class of signals includes logarithmic, exponential, and trigonometric functions, and algebraic polynomials. Differentiators are noise-proof against high-frequency interference. The article provides a comparative analysis of differentiators constructed using Butterworth polynomials and differentiators whose poles form a geometric sequence. Amplitudefrequency and phase-frequency characteristics are used to analyze differentiators. An example of constructing a first-order differentiator is given. In the time domain, the result of differentiating a low-frequency harmonic signal is considered. The differentiators proposed in this article can be used for the synthesis of automatic control systems.
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