Abstract
Here, we will use the OISM to design a fault estimator. We will continue using the cart–pendulum system as in Chap. 4. Here the matched uncertainties are assumed to represent a signal indicating the level of the control performance, that is, in the absence of actuator failures, the matched disturbances do not exist, and when the actuator has a fail, the disturbances appeared in the system. Thus, after the observer is designed and the control law is given, a third step is followed to estimate the fault signal by using the equivalent control method and a low-pass filter.
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Fridman, L., Poznyak, A., Bejarano, F.J. (2014). Fault Detection. In: Robust Output LQ Optimal Control via Integral Sliding Modes. Systems & Control: Foundations & Applications. Birkhäuser, New York, NY. https://doi.org/10.1007/978-0-8176-4962-3_8
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DOI: https://doi.org/10.1007/978-0-8176-4962-3_8
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Publisher Name: Birkhäuser, New York, NY
Print ISBN: 978-0-8176-4961-6
Online ISBN: 978-0-8176-4962-3
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