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Real time derivation filter

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Real time application filter for first and second derivation

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This is a real time application filter for derivations of any signal.
First and second derivation can be calculated. A fixed time step is needed.
It is based on this paper:
https://pdfs.semanticscholar.org/c189/3fb279972144d573f08a4af9808404c82d1a.pdf
The implementation works without loops.

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