By appropriately choosing the free parameter satisfying some constraints, the robust fault detection and isolation scheme is realized by employing only one observer-based residual generator.

通过适当选择满足一些约束的自由参数，仅使用单一观测器实现了鲁棒故障检测与分离设计。

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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.

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。

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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.

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。

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