Design of a novel discrete dual-switching tracking differentiator

• A dual-switching strategy alternates between the base double-integral system and its dual system based on the quadrant of the system state, effectively reducing tracking and differential signal overshoot. • A novel linearized control law is introduced, leading to a new dual-switch tracking differentiator with improved convergence and time optimality. • Simulation results confirm notable overshoot reduction and enhanced noise filtering performance compared to classic tracking differentiators. • Experimental validation on a PMSM platform shows the proposed TD as a speed-loop filter reduces the standard deviation from 5.63 r/min to 4.93 r/min versus moving average filtering.