Journal of Control Theory and Applications

, Volume 5, Issue 1, pp 28–36

Design of a bilinear fault detection observer for singular bilinear systems

  • Zhanshan Wang
  • Huaguang Zhang

DOI: 10.1007/s11768-005-5062-3

Cite this article as:
Wang, Z. & Zhang, H. J. Control Theory Appl. (2007) 5: 28. doi:10.1007/s11768-005-5062-3


A bilinear fault detection observer is proposed for a class of continuous time singular bilinear systems subject to unknown input disturbance and fault. By singular value decomposition on the original system, a bilinear fault detection observer is proposed for the decomposed system via an algebraic Riccati equation, and the domain of attraction of the state estimation error is estimated. A design procedure is presented to determine the fault detection threshold. A model of flexible joint robot is used to demonstrate the effectiveness of the proposed method.


Singular bilinear systems (SBS)Bilinear observerFault detectionState estimationDomain of attraction

Copyright information

© Editorial Board of Control Theory & Applications 2007

Authors and Affiliations

  • Zhanshan Wang
    • 1
    • 2
  • Huaguang Zhang
    • 1
  1. 1.School of Information Science and EngineeringNortheastern UniversityShenyangChina
  2. 2.School of Information Science and EngineeringShenyang Ligong UniversityShenyangChina