提出了不依赖系统模型的高阶微分反馈控制思想，控制目标是系统输出及其微分和高阶微分逼近设定输入及其微分和高阶微分，极大地提高了对控制品质要求。基于这种思想设计了能高品质地提取量测信号的微分和高阶微分的高阶微分器（HOD, high order differentiator），该HOD参数少，容易调节，并给出其稳定性、收敛性和滤波特性的证明；另外，对带有未知扰动、模型未知的非线性SISO和MIMO系统分别设计了基于HOD的高阶微分反馈自适应控制器（HODFC, high order differentials feedback adaptive controller），给出了闭环系统稳定性和鲁棒性分析，并且实现了线性化解耦控制。

This article presents high differential feedback control idea that does not rely on the model of the controlled system. Its control objective is that the output of the system and its differential and high differentials approximate the given reference input and its differential and high order differentials. It will improve largely the requirement of the control quality. Based on the idea, the high order differentiator (HOD) that is well able to extract differential and high order differentials of measured signals is designed. The proposed HOD has a few parameters and is easily adjusted. Its stability, convergence and filtering characteristic are proved. Furthermore, is designed, high order differential feedback adaptive controllers (HODFC) for unknown model nonlinear SISO and MIMO systems with unknown disturbance are presents respectively, the analysis of stability and robustness of the closed system is given, and linearized decoupling control is achieved.