The RateLimiter block limits the first derivative of the signal passing through it. To give an example:

• if the signal is a position, a rate limiter will limit the velocity with which the signal can change at its output.
• if the signal is a velocity, a rate limiter will limit the acceleration with which the signal can change at its output.

The output changes no faster than the specified limit. The derivative is calculated using this equation:

rate = (input(i)-output(i-1))/(time(i)-time(i-1))

If the input is a vector, then it is possible to choose if the algorithm applies the algorithm elementwise or not. If yes, rising rate and falling rate must be vectors.