@ARTICLE{10943119,
  author={Aldana-López, Rodrigo and Seeber, Richard and Haimovich, Hernan and Gómez-Gutiérrez, David},
  journal={IEEE Transactions on Automatic Control}, 
  title={Optimal Robust Exact First-Order Differentiators With Lipschitz-Continuous Output}, 
  year={2025},
  volume={70},
  number={9},
  pages={6191-6198},
  keywords={Noise;Accuracy;Convergence;Robustness;Noise measurement;Tuning;Fault diagnosis;Doppler effect;Vibrations;Upper bound;Differentiators;discrete-time implementation;optimal worst-case error;sliding-mode filters},
  doi={10.1109/TAC.2025.3555481}}