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G. Seper, R. Wieser:
"Fast and Accurate Angular Acceleration Estimation from Industrial Encoder Signals for Machine Control and Monitoring P";
Talk: ICEM, Istanbul, Turkey; 1998-09-01; in: "International Conference on Electrical Machines ICEM'98", (1998), 1.

High performance drives utilize encoder signals for both rapid speed control and accurate ac-machine modeling. Advanced control techniques also use an estimated angular acceleration signal for shaft torque regulation during speed transients. Furthermore, angular speed variations exhibit malfunctions of machine control or the mechanical drive drain. The aim of the first part of this paper is to investigate the accuracy of industrial optical encoders operating with an IGBT inverter drive. The second part deals with a method for very rapid speed and acceleration determination. A Kalman filter scheme is utilized to estimate speed and acceleration with a minimum delay time. Digital filtering is used for final signal conditioning. Experimental results from two induction machine drives in a power range between 10 and 440 kW are presented. Accuracy and validity of the results have been verified from recorded data by high order FIR-filter post processing