“…This method is suitable for a real-time control and an offline speed analysis. Accurate determination of the surface velocity profile of an almost uniformly rotating drum is considered in [7], where a measuring wheel is placed in direct contact with the drum and is rigidly coupled to an encoder of high line count. A new algorithm is described, which computes the nonlinear filtering of the encoder output in such a manner to yield a very close approximation to the actual drum velocity under most circumstances.…”