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Journal of Control Science and Engineering
Volume 2017, Article ID 6354208, 9 pages
Research Article

Fault Diagnosis of Nonlinear Uncertain Systems with Triangular Form

Department of Automation, Xiamen University, Xiamen 361005, China

Correspondence should be addressed to Xiafu Peng; nc.anis@ufaixgnep

Received 31 March 2017; Revised 14 June 2017; Accepted 28 June 2017; Published 1 August 2017

Academic Editor: Chunhui Zhao

Copyright © 2017 Qi Ding et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A novel approach to fault diagnosis for a class of nonlinear uncertain systems with triangular form is proposed in this paper. It is based on the extended state observer (ESO) of the active disturbance rejection controller and linearization of dynamic compensation. Firstly, an ESO is designed to jointly estimate the states and the combination of uncertainty, faults, and nonlinear function of nonlinear uncertain systems. It can derive the estimation of nonlinear function via the state estimations and system model. Then, linearization of dynamic compensation is employed to linearize the system by offsetting nonlinear function mandatorily using its estimation. An observer-based residual generator is designed on the basis of the prior linearized model for fault diagnosis. Moreover, threshold treatment technique is adopted to improve the robustness of fault diagnosis. This method is utilizable and simple in construction and parameter tuning. And also we show the construction of ESO and give the corresponding convergence proof succinctly. Finally, a numerical example is presented to illustrate the validity of the proposed fault diagnosis scheme.