Meantime, differential signal is distilled by nonlinear tracking-differentiator instead of the method of difference, which improves the quality of differential signal.
同时用非线性跟踪-微分器代替差分法来提取微分信号，提高了微分信号的品质。
2
Tracking differentiator as an elementary unit for nonlinear PID technology is improved so that it can yield better differential signal.
首先对非线性PID方法的基础元件——跟踪微分器进行了改进，以提高其性能。
3
The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.