Derivative smoothing

[guiaugustoga987]

First, congratulations for your project !

Could you provide some theory about the derivative smoothing you used on your code ?

d = self.kd_*(self.alpha*(delta_error/delta_time) + (1 - self.alpha)*(self.u_d[-1]/self.kd_))

I could not find any information about this kind of filter.

Thanks !