ESTIMATION OF ANGULAR VELOCITY AND ACCELERATION FROM SHAFT-ENCODER MEASUREMENTS

This paper suggests a Kalman-filter approach to the estimation of angu lar velocity and acceleration from (quantized) shaft-encoder measureme nts. Finite-difference estimates deteriorate as sampling rates are inc reased. For small sampling periods, we show that the filtering problem is the dual of the cheap control problem, and we justify the use of a ll-integrator models. We investigate Kalman filtering with constant sa mpling rate, and also with measurements triggered by encoder pulses. S imulation and experimental results are given.