Angular velocity estimation from incremental encoder measurements in the presence of sensor imperfections

In the area of traction and brake control, measurements of the rotational velocity of the wheels are often affected by large periodic disturbances that arise from sensor imperfections and degrade the performance of any closed-loop control algorithm. The aim of our paper is to address this problem. First, we present a detailed analysis of the most common sensor imperfections and their effect on their measured velocity. Then, we propose an estimation scheme that greatly reduces the periodic disturbances in order to provide a better estimate of the velocity, and we validate it via numerical simulations and experiments.