最后优化残差产生器的参数，使得故障检测系统对未知输入具有较强的鲁棒性，同时对故障具有较高的灵敏度。
Finally the parameter of the residual generator is optimized, so that the fault detection system is robust to the unknown inputs and simultaneously sensitive to the faults.
在残差决策阶段，采用模糊自适应门限的判决方法，提高了故障检测的鲁棒性。
At the stage of residual decision, an adaptive fuzzy threshold method is used to enhance the robustness of fault detection.
同时，针对残差信号与未知输入干扰不能完全解耦的情况，本文采用特征结构配置方法进行鲁棒故障检测滤波器设计。
Then the design of fault detection filter with robust eigenstructure assignment is investigated in a class of residual signal for the unknown input disturbance can not be completely decoupled.
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