Design of a terse discrete high speed tracking-differentiator without chattering

A new terse discrete high speed tracking-differentiator (TD) without chattering is presented. Based on the comparisons and analysis of several kinds of control synthetic functions, a linear region of which the width can be adjustable is designed. The control synthetic function is obtained by using the approach of state reversing. Then the TD is constructed with the control synthetic function. Simulation results show that the TD can quickly track the input signal without chattering. It also has good filtering performance and can produce high-quality differential signal. Its form is simple and is easy to implement in engineering.