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		Zhanshan WANG,Huaguang ZHANG.[en_title][J].Control Theory and Technology,2007,5(1):28~36.[Copy]

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ZhanshanWANG,HuaguangZHANG
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Received:March 30, 2005Revised:August 18, 2006

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Design of a bilinear fault detection observer for singular bilinear systems

Zhanshan WANG, Huaguang ZHANG

(School of Information Science and Engineering, Northeastern University, Shenyang Liaoning 110004, China;School of Information Science and Engineering, Shenyang Ligong University, Shenyang Liaoning 110168, China)

Abstract:

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.

Key words: Singular bilinear systems (SBS) Bilinear observer Fault detection State estimation Domain of attraction