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This paper presents a time discretization of the robust exact filtering differentiator, a sliding mode differentiator coupled to filter, which provides a suitable approximation to the derivatives of some noisy signals. This proposal takes advantage of the homogeneity of the differentiator, allowing the use of similar techniques to those of the linear systems. As in the original case, the convergence robust exact filtering differentiator depends on the bound of a higher-order derivative; nevertheless, this new realization can be implemented with or without the knowledge of such constant. It is demonstrated that the system's trajectories converge to a neighborhood of the origin with a free-noise input. Finally, comparisons between the behavior of the differentiator with different design parameters are presented., Comment: Submitted to the 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, Mexico

This paper deals with the design of discrete-time algorithms for the robust filtering differentiator. Two discrete-time realizations of the filtering differentiator are introduced. The first one, which is based on an exact discretization of the continuous differentiator, is an explicit one, while the second one is an implicit algorithm which enables to remove the numerical chattering phenomenon and to preserve the estimation accuracy properties. Some numerical comparisons between the proposed scheme and an existing discrete-time algorithm show the interest of the proposed implicit discrete-time realization of the filtering differentiator, especially when large sampling periods are considered.

This paper aims to provide a methodology for generating autonomous and non-autonomous systems with a fixed-time stable equilibrium point where an Upper Bound of the Settling Time (UBST) is set a priori as a parameter of the system. In addition, some conditions for such an upper bound to be the least one are provided. This construction procedure is a relevant contribution when compared with traditional methodologies for generating fixed-time algorithms satisfying time constraints since current estimates of an UBST may be too conservative. The proposed methodology is based on time-scale transformations and Lyapunov analysis. It allows the presentation of a broad class of fixed-time stable systems with predefined UBST, placing them under a common framework with existing methods using time-varying gains. To illustrate the effectiveness of our approach, we generate novel, autonomous and non-autonomous, fixed-time stable algorithms with predefined least UBST., Comment: Please cite the publisher's version. For the publisher's version and full citation details see: https://doi.org/10.1080/00207179.2021.1936190 The following links provide access, for a limited time, to a free copy of the publisher's version: https://www.tandfonline.com/eprint/BMPX5CUSEVFJYHHPMEES/full?target=10.1080/00207179.2021.1936190

This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined time. Namely, the protocol design provides a tuning parameter that allows setting the convergence time of the agents to a consensus state. An appropriate Lyapunov analysis exposes the capability of the current proposal to achieve predefined-time consensus over switching topologies despite the presence of bounded perturbations. Finally, the paper presents a comparison showing that the suggested approach subsumes existing fixed-time consensus algorithms and provides extra degrees of freedom to obtain predefined-time consensus protocols that are less over-engineered, i.e., the difference between the estimated convergence time and its actual value is lower in our approach. Numerical results are given to illustrate the effectiveness and advantages of the proposed approach., Comment: International Journal of Robust and Nonlinear Control, 2019

This paper deals with the convergence time analysis of a class of fixed-time stable systems with the aim to provide a new non-conservative upper bound for its settling time. Our contribution is fourfold. First, we revisit the well-known class of fixed-time stable systems, given in (Polyakov et al.,2012}, while showing the conservatism of the classical upper estimate of the settling time. Second, we provide the smallest constant that uniformly upper bounds the settling time of any trajectory of the system under consideration. Third, introducing a slight modification of the previous class of fixed-time systems, we propose a new predefined-time convergent algorithm where the least upper bound of the settling time is set a priori as a parameter of the system. At last, predefined-time controllers for first order and second order systems are introduced. Some simulation results highlight the performance of the proposed scheme in terms of settling time estimation compared to existing methods.

We have measured the interaction between $^4$He gas at 4.2$~$K and a high-quality nano-electro-mechanical string device for its first 3 symmetric modes (resonating at 2.2$~$MHz, 6.7$~$MHz and 11$~$MHz with quality factor $Q > 0.1$ million) over almost 6 orders of magnitude in pressure. This fluid can be viewed as the best experimental implementation of an almost-ideal monoatomic and inert gas which properties are tabulated. The experiment ranges from high pressure where the flow is of laminar Stokes-type presenting slippage, down to very low pressures where the flow is molecular. In the molecular regime, when the mean-free-path is of the order of the distance between the suspended nano-mechanical probe and the bottom of the trench we resolve for the first time the signature of the boundary (Knudsen) layer onto the measured dissipation. Our results are discussed in the framework of the most recent theories investigating boundary effects in fluids (both analytic approaches and Monte-Carlo DSMC simulations)., Comment: Editor's suggestion

We report on experiments performed at low temperatures on aluminum covered silicon nanoelectromechanical resonators. The substantial difference observed between the mechanical dissipation in the normal and superconducting states measured within the same device unambiguously demonstrates the importance of normal-state electrons in the damping mechanism. The dissipative component becomes vanishingly small at very low temperatures in the superconducting state, leading to exceptional values for the quality factor of such small silicon structures. A critical discussion is given within the framework of the standard tunneling model., Comment: SI not provided

We have measured the interaction between superfluid $^3$He-B and a micro-machined goalpost-shaped device at temperatures below $0.2\,T_c$. The measured damping follows well the theory developed for vibrating wires, in which the Andreev reflection of quasiparticles in the flow field around the moving structure leads to a nonlinear frictional force. At low velocities the damping force is proportional to velocity while it tends to saturate for larger excitations. Above a velocity of 2.6$\,$mms$^{-1}$ the damping abruptly increases, which is interpreted in terms of Cooper-pair breaking. Interestingly, this critical velocity is significantly lower than reported with other mechanical probes immersed in superfluid $^3$He. Furthermore, we report on a nonlinear resonance shape for large motion amplitudes that we interpret as an inertial effect due to quasiparticle friction, but other mechanisms could possibly be invoked as well., Comment: J. of Low Temp. Phys. in press

We present a high-sensitivity measurement technique for mechanical nanoresonators. Due to intrinsic nonlinear effects, different flexural modes of a nanobeam can be coupled while driving each of them on resonance. This mode-coupling scheme is dispersive and one mode resonance shifts with respect to the motional amplitude of the other. The same idea can be implemented on a {\it single} mode, exciting it with two slightly detuned signals. This two-tone scheme is used here to measure the resonance lineshape of one mode through a frequency shift in the response of the device. The method acts as an amplitude-to-frequency transduction which ultimately suffers only from phase noise of the local oscillator used and of the nanomechanical device itself. We also present a theory which reproduces the data without free parameters.

We report on experiments performed in vacuum and at cryogenic temperatures on a tri-port nano-electro-mechanical (NEMS) device. One port is a very non-linear capacitive actuation, while the two others implement the magnetomotive scheme with a linear input force port and a (quasi-linear) output velocity port. We present an experimental method enabling a full characterization of the nanomechanical device harmonic response: the non-linear capacitance function $C(x)$ is derived, and the normal parameters $k$ and $m$ (spring constant and mass) of the mode under study are measured through a careful definition of the motion (in meters) and of the applied forces (in Newtons). These results are obtained with a series of purely electric measurements performed without disconnecting/reconnecting the device, and rely only on known DC properties of the circuit, making use of a thermometric property of the oscillator itself: we use the Young modulus of the coating metal as a thermometer, and the resistivity for Joule heating. The setup requires only three connecting lines without any particular matching, enabling the preservation of a high impedance NEMS environment even at MHz frequencies. The experimental data are fit to a detailed electrical and thermal model of the NEMS device, demonstrating a complete understanding of its dynamics. These methods are quite general and can be adapted (as a whole, or in parts) to a large variety of elecromechanical devices.

We report on experiments performed on a cantilever-based tri-port nano-electro-mechanical (NEMS) device. Two ports are used for actuation and detection through the magnetomotive scheme, while the third port is a capacitively coupled gate electrode. By applying a low frequency voltage signal on the gate, we demonstrate mixing in the mechanical response of the device, even for {\it low magnetomotive drives, without resorting to conduction measurements through the NEMS}. The technique can thus be used in particular in the linear regime, as an alternative to nonlinear mixing, for normal conducting devices. An analytic theory is presented reproducing the data without free parameters