Date of Award


Degree Type

Thesis - Restricted

Degree Name

Master of Science (MS)


Mechanical Engineering

First Advisor

Brown, Ronald H.

Second Advisor

Heinen, James A.

Third Advisor

Schneider, Susan C.


Many motion control systems are currently implemented as discrete-time systems due to the technological advancement of digital hardware and computer software. The performance of these motion control systems may be enhanced via the feedback of velocity, where the velocity is estimated from measured discrete positionversus- time information. The velocity is estimated by performing an approximation of the derivative operation on the discrete-time data. Various techniques for estimating velocity exist, but selecting one for implementation in a given system is not a trivial task, since the effectiveness of the techniques under a wide range of conditions (e.g., motor speed profiles) can be quite diverse. The purpose of this research is to examine some present techniques of velocity estimation using discrete-time data, to develop a new approach to velocity estimation, and finally to implement various techniques on a real system (motor and encoder) so as to compare the performances of the velocity estimators.



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