Stability analysis of linear time-varying IIR filter with equalized group delay characteristic

Okoniewski, Piotr; Piskorowski, Jacek

doi:10.1109/mmar.2013.6669879

Cited by 8 publications

(3 citation statements)

References 13 publications

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“…where a i (w) and b i (w) are the time-varying coefficients, y(w) is the output, x(w) is the input, n and m are the numbers of coefficients, i is the auxiliary index, and w is the discrete-time index. One can find more details about discrete time-varying filters along with the discussions about stability of such designs in the following literature [22,23].…”

Section: Discrete Time-varying Filter With Reduced Transient Responsementioning

confidence: 99%

Short-Transient Discrete Time-Variant Filter Dedicated for Correction of the Dynamic Response of Force/Torque Sensors

2020

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The perception of touch opens new perspectives for so-called ’intelligent robotics’. Force/torque sensors are currently a key component of autonomous assembly processes or of the dynamically developing sector of collaborative robots. Response time is a critical parameter of force control, which has a direct effect on impact forces when the robot initiates contact with the environment. This paper indicates parameters of one of commercial force/torque sensors by JR3, in particular, its pre-defined low-pass filters. Their stationary nature introduces i.e. significant delay in the time domain, resulting in a negative impact on the overall dynamics of force control. To remedy the problem, our proposed approach is to employ a novel discrete time-variant filter with appropriately modulated parameters, owing to which it is possible to suppress the amplitude of the transient response and, at the same time, to increase the pulsation of damped oscillations; this results in the improvement of the dynamic properties in terms of reducing the duration of transients. Differences between a commercial, stationary filter and the recommended discrete time-variant filter have been shown experimentally, using a dedicated test environment.

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Section: Discrete Time-varying Filter With Reduced Transient Responsementioning

confidence: 99%

Short-Transient Discrete Time-Variant Filter Dedicated for Correction of the Dynamic Response of Force/Torque Sensors

2020

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“…Unfortunately, the methods known from the common structures cannot be used. In [11] we have the presented methodology for checking the stability of the time-varying filters. We have described the recalculation of (2) to acquire n − 1 order nonlinear difference equation with time-varying coefficients in terms of n−1 initial conditions…”

Section: Time-varying Casementioning

confidence: 99%

A graphical user interface for designing time-varying IIR filters with equalized group delay

Okoniewski

Piskorowski

2014

2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)

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The paper presents a graphical user interface for designing time-varying IIR filters with equalised group delay characteristic. The problem of non-constant group delay characteristic of the IIR filters is well known. The allpass based equalisers are used as a solution with fine results. Unfortunately, the equalisation introduces distortions to the time-domain characteristics of the original IIR filter. The concept of the timevarying coefficients proved to deal with that fact. Due to complex calculations and needed optimisation a tool in the form of a graphical system is greatly required to improve the robustness of simulations and studies of the equalised time-varying IIR filters.

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“…Assuming the exact same magnitude boundaries, the FIR filter has much higher order than the IIR filter. However, the non-recursive design is always stable due to the lack of feedbacks [9].…”

Section: Introductionmentioning

confidence: 99%

Time-varying FIR notch filter implementation using Raspberry Pi

Kocon

Piskorowski

2015

2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)

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In this paper a hardware implementation of the finite impulse response narrow band-stop time-varying filter based on the infinite impulse prototype filter is proposed. The notch filter is used for removing power-line interferences from biomedical source, i.e. ECG signal. In order to suppress the transient state of the proposed filter, the pole radius and the pole angle of the prototype filter are temporarily varied in time. The proposed filters are tested using sinusoidal and ECG signals. The algorithm for computing the filter coefficients is presented. Computer simulations, and performance indexes demonstrate that the proposed filter possesses better properties than traditional timeinvariant notch filter. Moreover, the hardware implementation of the presented filter using Raspberry Pi platform has been presented.

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Stability analysis of linear time-varying IIR filter with equalized group delay characteristic

Cited by 8 publications

References 13 publications

Short-Transient Discrete Time-Variant Filter Dedicated for Correction of the Dynamic Response of Force/Torque Sensors

Short-Transient Discrete Time-Variant Filter Dedicated for Correction of the Dynamic Response of Force/Torque Sensors

A graphical user interface for designing time-varying IIR filters with equalized group delay

Time-varying FIR notch filter implementation using Raspberry Pi

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