Differential filters in an adaptive control system

This article presents an algorithm for adaptive control of a plotter head. It discusses the use of differential filters in control algorithms. The filters are designed to determine the derivatives of the input signal and eliminate measurement and quantization noise. The primary purpose of the study was to employ the differential filters in a real-time control algorithm, which requires appropriate derivatives. The experiments were conducted on a test stand with a plotter equipped with an electric drive acting as the plant to be controlled.