Fault and disturbance reconstruction in non-linear systems using a network of interconnected sliding mode observers

Fault and disturbance reconstruction in non-linear systems using a network of interconnected sliding mode observers

For access to this article, please select a purchase option:

Buy article PDF
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

A new technique for fault diagnosis and estimation of unknown inputs in a class of non-linear systems is presented in this study. The novelty of the approach is based on utilisation of a network of two interconnected sliding mode observers, the first is used for fault diagnosis and the second is used for estimation of unknown inputs. The two observers exchange information about their respective reconstructed signals online and in real time. Conditions and proofs of conversion are presented. A salient feature of the proposed approach is that the state trajectories do not leave the sliding manifold even in presence of unknown disturbances and faults. This allows for faults and unknown inputs to be reconstructed based on information retrieved from the equivalent output error injection signal.


    1. 1)
      • R.V. Beard . (1971) Failure accommodation in linear systems through self-reorganization, in Dept. of Aeronautic and Astronautics.
    2. 2)
    3. 3)
    4. 4)
    5. 5)
      • Seliger, R., Frank, P.M.: `Fault diagnosis by disturbance decoupled nonlinear observers', 30thIEEE Conf. on Decision and Control, 1991, Brighton, England.
    6. 6)
      • Koenig, D., Mammar, S.: `Design of a class of reduced order unknown inputs nonlinear observer for fault diagnosis', Proc. American Control Conf., 2001, Arlington, VA.
    7. 7)
    8. 8)
    9. 9)
    10. 10)
    11. 11)
    12. 12)
      • Sreedhar, R., Fernandez, B., Masada, G.Y.: `Robust fault detection in nonlinear systems using sliding mode observers', Second IEEE Conf. on Control Applications, 1993, Vancouver, BC.
    13. 13)
    14. 14)
    15. 15)
    16. 16)
      • Edwards, C., Fridman, L., Thein, M.-W.L.: `Fault reconstruction in a leader/follower spacecraft system using higher-order sliding mode observers', Proc. American Control Conf., NYC, 2007, p. 408–413.
    17. 17)
    18. 18)
    19. 19)
      • J. Chen , R.J. Patton . (1999) Robust model-based fault diagnosis for dynamic systems.
    20. 20)
      • A. Isidori . (1989) Nonlinear control systems.
    21. 21)
      • H.G. Kwatny , G.L. Blankenship . (2000) Nonlinear control and analytical mechanics: a computational approach.
    22. 22)
      • W. Perruquetti , J.-P. Barbot . (2002) Sliding mode control in engineering.
    23. 23)
      • C. Edwards , S.K. Spurgeon . (1998) Sliding mode control: theory and applications.
    24. 24)
      • H.K. Khalil . (1988) Nonlinear systems.
    25. 25)
      • R. Sanchis , H. Nijmeijer . Sliding controller-sliding observer design for nonlinear systems. Eur. J. Control , 3 , 197 - 208
    26. 26)

Related content

This is a required field
Please enter a valid email address