Unbiased Minimum-Variance Filter for State and Fault Estimation of Linear Time-Varying Systems with Unknown Disturbances

Table 1

RMSE values.

RMSE	$x_{1,k}$	$x_{2,k}$	$x_{3,k}$	$f_{1,k}$	$f_{2,k}$
$(F_k^y{)}^1$	0.4496	0.1531	0.5114	0.3875	0.4139
$(F_k^y{)}^2$	0.5248	0.1346	0.1863	0.4941	0.9612
$(F_k^y{)}^3$	0.6301	0.1542	0.2129	0.2565	2.3664
$(F_k^y{)}^4$	0.3378	0.0938	0.3647	3.3541	0.4139