Why not the first-order lag element with difference quotient calculator connected in series? Please run diff_noise.slx and see for yourself. The comparison includes, inter alia, two techniques based on the recursive least squares (RLS) filter algorithm.
Bartlomiej Ufnalski (2020). Differentiation of noisy signals (https://www.mathworks.com/matlabcentral/fileexchange/48899-differentiation-of-noisy-signals), MATLAB Central File Exchange. Retrieved .
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