Abstract
We introduce a computationally efficient recursive implementation
of digital finite impulse response (FIR) filters for estimating the rate
of change or slope of digitized signals. The proposed FIR differentiator
is characterized by the optimal attenuation of white noise and an
efficient suppression of upper-band frequencies. The basic structure
needs only one multiplier, which becomes a power of two with an
appropriate selection of the length of the impulse response. The
structure does not need resetting and recovers from any bit errors. For
long filters, sampling rate reduction by decimation gives further
computational savings
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