Self-tuning observing derivatives of various orders of an uncertain system output

Derivatives of various orders of system output are often used in the feedback control, but it is difficult to measure them. They can be obtained by derivation in theory, but because of noise, the derivative signals can not reflect the true values. This article reports researches on how observe accurately output derivatives of various orders of an uncertain system output; proposes an ideal method for self-tuning observing output derivatives of various orders of controlled object, and introduces its principle and design. In the end, The expression and algorithm on self-tuning observing of the derivatives of various orders of system's output are given.