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How to detect & remove steps from signal?

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.

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Massimo Zanetti 님의 답변 26 Jan 2017
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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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Thank you very much for your kind help!

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