diff --git a/src/main/java/org/apache/commons/math3/analysis/differentiation/DSCompiler.java b/src/main/java/org/apache/commons/math3/analysis/differentiation/DSCompiler.java
index 91a5377cf..32f5624c1 100644
--- a/src/main/java/org/apache/commons/math3/analysis/differentiation/DSCompiler.java
+++ b/src/main/java/org/apache/commons/math3/analysis/differentiation/DSCompiler.java
@@ -1347,15 +1347,25 @@ public class DSCompiler {
         }
     }
 
-    /** Evaluate Taylor expansion a derivative structure.
+    /** Evaluate Taylor expansion of a derivative structure.
      * @param ds array holding the derivative structure 
      * @param dsOffset offset of the derivative structure in its array
-     * @param offsets parameters offsets (dx, dy, ...)
-     * @return value of the Taylor expansion at x+dx, y.dy, ...
+     * @param delta parameters offsets (Δx, Δy, ...)
+     * @return value of the Taylor expansion at x + Δx, y + Δy, ...
      */
-    public double taylor(final double[] ds, final int dsOffset, final double ... offsets) {
-        // TODO
-        return Double.NaN;
+    public double taylor(final double[] ds, final int dsOffset, final double ... delta) {
+        double value = 0;
+        for (int i = getSize() - 1; i >= 0; --i) {
+            final int[] orders = getPartialDerivativeOrders(i);
+            double term = ds[dsOffset + i];
+            for (int k = 0; k < orders.length; ++k) {
+                if (orders[k] > 0) {
+                    term *= FastMath.pow(delta[k], orders[k]) / ArithmeticUtils.factorial(orders[k]);
+                }
+            }
+            value += term;
+        }
+        return value;
     }
 
     /** Check rules set compatibility.
diff --git a/src/main/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructure.java b/src/main/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructure.java
index 78263b0ec..6a01941ef 100644
--- a/src/main/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructure.java
+++ b/src/main/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructure.java
@@ -528,11 +528,11 @@ public class DerivativeStructure implements FieldElement<DerivativeStructure>, S
     }
 
     /** Evaluate Taylor expansion a derivative structure.
-     * @param offsets parameters offsets (dx, dy, ...)
-     * @return value of the Taylor expansion at x+dx, y.dy, ...
+     * @param delta parameters offsets (&Delta;x, &Delta;y, ...)
+     * @return value of the Taylor expansion at x + &Delta;x, y + &Delta;y, ...
      */
-    public double taylor(final double ... offsets) {
-        return compiler.taylor(data, 0, offsets);
+    public double taylor(final double ... delta) {
+        return compiler.taylor(data, 0, delta);
     }
 
     /**
diff --git a/src/test/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructureTest.java b/src/test/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructureTest.java
index 8a4956333..fa916438a 100644
--- a/src/test/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructureTest.java
+++ b/src/test/java/org/apache/commons/math3/analysis/differentiation/DerivativeStructureTest.java
@@ -596,6 +596,48 @@ public class DerivativeStructureTest {
         }        
     }
 
+    @Test
+    public void testTaylorPolynomial() {
+        for (double x = 0; x < 1.2; x += 0.1) {
+            DerivativeStructure dsX = new DerivativeStructure(3, 4, 0, x);
+            for (double y = 0; y < 1.2; y += 0.2) {
+                DerivativeStructure dsY = new DerivativeStructure(3, 4, 1, y);
+                for (double z = 0; z < 1.2; z += 0.2) {
+                    DerivativeStructure dsZ = new DerivativeStructure(3, 4, 2, z);
+                    DerivativeStructure f = dsX.multiply(dsY).add(dsZ).multiply(dsX).multiply(dsY);
+                    for (double dx = -0.2; dx < 0.2; dx += 0.2) {
+                        for (double dy = -0.2; dy < 0.2; dy += 0.1) {
+                            for (double dz = -0.2; dz < 0.2; dz += 0.1) {
+                                double ref = (x + dx) * (y + dy) * ((x + dx) * (y + dy) + (z + dz));
+                                Assert.assertEquals(ref, f.taylor(dx, dy, dz), 2.0e-15);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    @Test
+    public void testTaylorAtan2() {
+        double[] expected = new double[] { 0.214, 0.0241, 0.00422, 6.48e-4, 8.04e-5 };
+        double x0 =  0.1;
+        double y0 = -0.3;
+        for (int maxOrder = 0; maxOrder < 5; ++maxOrder) {
+            DerivativeStructure dsX   = new DerivativeStructure(2, maxOrder, 0, x0);
+            DerivativeStructure dsY   = new DerivativeStructure(2, maxOrder, 1, y0);
+            DerivativeStructure atan2 = DerivativeStructure.atan2(dsY, dsX);
+            double maxError = 0;
+            for (double dx = -0.05; dx < 0.05; dx += 0.001) {
+                for (double dy = -0.05; dy < 0.05; dy += 0.001) {
+                    double ref = FastMath.atan2(y0 + dy, x0 + dx);
+                    maxError = FastMath.max(maxError, FastMath.abs(ref - atan2.taylor(dx, dy)));
+                }
+            }
+            Assert.assertEquals(0.0, expected[maxOrder] - maxError, 0.01 * expected[maxOrder]);
+        }
+    }
+
     @Test
     public void testField() {
         for (int maxOrder = 1; maxOrder < 5; ++maxOrder) {