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。

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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。

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The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.

自抗绕控制器由三部分组成：跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律。

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