Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems
Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we consider the bias propagation problem for a homogeneous nonlinear model-based differentiator applied to a reaction wheel pendulum Bosch Serie 6 GIN81AEF0G Frost Free Built In Freezer with a biased position sensor.We show that the bias propagates through the velocity obser