A complex digital filter with asymmetrical frequency response based on imaginary resistance

1991 ◽  
Vol 74 (8) ◽  
pp. 108-115 ◽  
Author(s):  
Akira Takahashi ◽  
Nobuo Nagai ◽  
Nobuhiro Miki
Keyword(s):  
Frequency Response ◽  
Digital Filter

Transfer Function Coefficients Calculation of the High Pass Frequency-Dependent Second-Order Components Using Special Phase Frequency Response Values

2021 ◽  
Vol 105 ◽  
pp. 161-166
Author(s):  
Hanna Ukhina ◽  
Ivan Afanasyev ◽  
Valerii Sytnikov ◽  
Oleg Streltsov ◽  
Pavel Stupen
Keyword(s):  
Transfer Function ◽  
Frequency Response ◽  
Digital Filter ◽  
Second Order ◽  
Robotic Systems ◽  
Frequency Dependent ◽  
Digital Frequency ◽  
Order Components ◽  
High Pass

In this work, adjustable second-order digital frequency-dependent components that are used in robotic systems are considered. The obtained approximations of the PFR dependence on the ripple level allow us to find the digital filter transfer function denominator coefficients' values that result contributes to a more rapid rearrangement of their responses in robotic systems.

On Some Peculiarities of Z-Transformations in Digital Filter Design

1975 ◽  
Vol 12 (2) ◽  
pp. 177-187
Author(s):  
Andrew A. Sekey
Keyword(s):  
Frequency Response ◽  
Digital Filter ◽  
Input Signal ◽  
Filter Design ◽  
Sampling Rate ◽  
Digital Filter Design ◽  
Z Transformation

The paper attempts to elucidate some questions that frequently baffle students: (1) why do aliasing errors appear after standard z-transformation even with the input signal properly bandlimited? (2) is z = exp( sT) appropriate for determining the frequency response following bilinear z-transformation? (3) what are the consequences on impulse invariant filters of varying the sampling rate?

A Flexible, Event-Driven Digital Filter With Frequency Response Independent of Input Sample Rate

2014 ◽  
Vol 49 (10) ◽  
pp. 2292-2304 ◽  
Author(s):  
Christos Vezyrtzis ◽  
Weiwei Jiang ◽  
Steven M. Nowick ◽  
Yannis Tsividis
Keyword(s):  
Frequency Response ◽  
Digital Filter ◽  
Event Driven ◽  
Input Sample ◽  
Sample Rate

Real Time Estimation of Elastic Deformation for End-Point Tracking Control of Flexible Two-Link Manipulators

1993 ◽  
Vol 115 (3) ◽  
pp. 385-393 ◽  
Author(s):  
Jack Zhijie Xia ◽  
Chia-Hsiang Menq
Keyword(s):  
Frequency Response ◽  
Elastic Deformation ◽  
Digital Filter ◽  
Tracking Control ◽  
Response Ratio ◽  
End Point ◽  
Point Tracking ◽  
Point Motion ◽  
Stable Subsystem ◽  
Unstable Subsystem

In this paper, an elastic-deformation estimator is proposed for real time end-point tracking control of a flexible two-link manipulator. Due to the noncolocated characteristics of the system, the inverse model (from end-point motion to control torques) is divided into two subsystems, namely, the stable subsystem and the unstable one, corresponding to the causal part and noncausal part of the system’s elastic motion, respectively. A digital filter is formulated to replace the unstable subsystem so as to estimate the noncausal part of the elastic motion associated with a specified end-point motion. For the design of the filter, the frequency response ratio between the filter and the unstable subsystem is used as the criterion, the objective of which is to have the frequency response ratio have zero phase shift as well as unity gain within a specified frequency range. It is shown that due to the noncausal characteristics of the unstable subsystem, preview information of the input trajectory is required for implementing the proposed filter, and the estimation accuracy increases as increasing the preview steps. Based on the stable subsystem and the proposed digital filter, a time-varying estimator is designed to estimate the elastic motion of the system when the end-point motion is specified. A command feedforward controller is then used to calculate the required control torques based on the estimated elastic deformation and the desired end-point motion. The computed torques along with a feedback controller then form a control scheme making the flexible two-link manipulator become capable of precision end-point tracking. Simulation results are presented to show the performance of the proposed end-point tracking scheme as well as the elastic-deformation estimator.

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