How to detect & remove steps from signal?

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Dear Colleagues, Given the signal shown in Fig.1, what is the best way to detect and remove the steps from the signal? The processed signal is shown in Fig.2. Could you give me some good methods to solve this problem? Thanks!
Fig.1 Raw signal, which contains several steps.
Fig.2 The processed signal.

Accepted Answer

Massimo Zanetti
Massimo Zanetti on 26 Jan 2017
Differentiate your signal (function diff in Matlab). The steps are located at points where first derivative is very high. Once your have found these points, translate your pieces of signal to match them.
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Kathleen on 27 Mar 2017
Thank you very much for your kind help!

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