TMS320F28388D: A question of runPID function in the PID_grando.h

Hi Master.

I develop Motor Drive using the TMS320F28388D MCU.

now I am test speed control test base on Example Build 4.

when i see the PID_grando_v3.pdf, there is PID Control Block diagram.

the follow fig.

and The runPID() function in the PID_grando.h was also implemented according to the below diagram

the derivative path (in the black box) diagram is something strange to me

I think the general derivative path as i know is the diagram below

Can it be used it as is or can it be modified ?

(if possible, please explain the black box derivative path)

Thanks.