Semi-implicit Discretization of the Uniform Robust Exact Differentiator

This paper studies the discretization of the uniform robust exact differentiator. The commonly used Euler forward method is not suitable to discretize fixed-time algorithms, as global stability can not be guaranteed. Hence a semi-implicit discretization approach is proposed which yields a globally stable discrete system and suppresses any discretization chattering in the unperturbed case. Global stability properties are derived and a method to find suitable sampling times is presented.

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