The phase response values application of second-order digital frequency-dependent components for calculating transfer function coefficients in robotic systems

Abstract

This study deals with the influence of the second order tunable digital frequency-dependent components' transfer function coefficients on the phase response during those components tuning. The obtained approximations of phase frequency responce dependence on the ripple level allowed us to find the digital filter transfer function of the denominator coefficients values. It is worth noting that this expression works at ripple level up to 40 with a standard error of 0,06% for Chebyshev filter-1 and 0.28% for Chebyshev filter-2. Also in these work we fix the ripple level. With this value, for each cutoff level and ripple level we determine the phase value and to obtain the three-dimensional graph approximation. Theoretical studies have been verified experimentally.