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Derivation of the encoder position doesn't give accurate velocity at higher RPMs

Charkaoui Abdelmouneim
Prodigy 50 points

Hi all, 

I'm currently doing a FOC of a PMSM using an encoder as a sensor. Later on my analysis, I realized that at higher speeds (15000 RPMs or above) the derivation of the sensed angular position doesn't give accurate velocity, i.e : The velocity looks like a sine wave riding on a mean value (offset) that is not the correct DC value it should be. Whereas, at lower speeds, the velocity resulting of deriving of the position is an accurate DC value. 

Could any please advise what could be the issue here! 

Thank You very much, TI Community,

BR,

Abdelmouneim.