usage.rst

Usage

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