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low pass filter design

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garg29

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Dear friends,
i am working on PID in which i need to design low pass filter so that the d term is free of noise. i have got a link in which the lpf is applied . i dont understand it, how to design software based low pass filter and how to set the value of the constants c1, c2 in it?
here is link :**broken link removed**

the code for lpf is as below:
Code: 
lpf = c1 x lpf_1 + c2 x (ek + ek-1);
please help.
with best regards
garg
 

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