Filtered derivative with initial condition
With the remark :
, the derived action can be canceled by programming Kd=0, if necessary.
The example produced previously shows three possible builds of the same derivative filter.
The state space in matrix form (A, B, C, D) is calculated in the preamble to launching the simulation (Simulationī¨ Set Context):
The state space and the derivative filter DerFil produce an identical result, with, in particular, an initialization to 0 of the derived action.
The standard CLR function of Scilab does not allow this result to be obtained, hence a non-zero derivative at t=0.