Simple and Efficient Tracking Differentiator

Real-time differentiation estimation of signals is commonly used in the feedback controller design, the fault detection and isolation and many other control related fields (Han in IEEE Trans Ind Electron 56(3):900–906, 2009, [1]), (Rios et al. in Int J Control 90(2):218–230, 2017, [2]), (Vazquez et al. in IEEE Trans Control Syst Technol 24(5):1740–1750, 2016, [3]). As mentioned in Chap. 2, time optimal control (TOC) based tracking differentiator (TD), first proposed by Jinqing Han, serves not only a transient profile that the system output can reasonably follow to avoid setpoint jump in active disturbance rejection control (ADRC), but also the differentiation acquisition from noise-polluted and/or discontinuous signals.