该文设计了全维非线性未知输入观测器，实现检测滤波器对于被控对象模型误差和系统不确定性因素的干扰解耦。

This paper realizes disturbance de-coupled with model error and system uncertainty by using a combination of full-order nonlinear unknown input observer and fault detection filter.

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基于未知输入观测器设计和等价控制的概念，讨论了一类非线性系统传感器故障的鲁棒故障诊断问题。

Based on the unknown input observers and the concept of equivalent control, this paper considers the problem of robust fault diagnosis of sensor faults in a class of nonlinear systems.

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