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We consider the problem of adaptive filtering and related derivative estimating for signals with uncertain dynamics this paper. Based on the control method of uncertain systems, a new algorithm is proposed. The theoretical analysis and a special form of filter are given. It is shown that the filter doesnpsilat depend on the unmodeled part of systemspsila dynamics and makes no assumptions regarding the classification of systems. The filter is also robust about the initial errors of the observations. And the most important of all is that we can also get the derivatives by the filter as well. It will be helpful for system prediction. Simulation results are provided to demonstrate the efficiency of the method.