Time Derivativers of Zhang Dynamics with Han Tracking Differentiator Linked and Also Distinguished

摘要

In this paper, a series of time-derivative solvers, i.e., time derivativers, termed Zhang time derivativers (ZTD), is introduced on the basis of Zhang dynamics (ZD) to estimate the time derivatives of a time-varying signal, which is, e.g., a measured state variable of some unknown dynamic system. Equations of four types of ZTD are proposed in detail. Based on four low-order ZTD equations introduced by ZD with linear activation and equal parameter, the general form of the simplest type of ZTD is obtained through mathematical induction. More importantly, the links and differences between Han tracking differentiator (HTD) and ZTD are discovered and discussed.