Velocity Estimation Using Quantized Measurements

Stephen Phillips, Michael S. Branicky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations


This paper compares algorithms for velocity estimation for feedback control using position encoder measurements. Simulations and experiments for position-velocity control of motors using both fixed-time and fixed-displacement algorithms are compared for various operating conditions. While no single approach is optimal for all situations, least-squares fit algorithms are promising in general. Mathematical models are developed to predict the performances of the algorithms. Specifically, upper bounds on absolute and relative errors for each of the algorithms under different constant velocity and constant acceleration conditions are derived. The algorithms are extensively tested in simulation and also on data obtained from an experimental setup consisting of a motor, two encoders with different resolutions, and a real-time feedback control system. The theory and simulations are confirmed by experimental results.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)0780379241
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other42nd IEEE Conference on Decision and Control
Country/TerritoryUnited States
CityMaui, HI

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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