Fault detection

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.