然后考虑含有故障的时滞系统，设计了故障诊断滤波器，将故障诊断滤波器与原系统组成增广系统，增广系统中包含时滞系统的执行器故障和传感器故障。
Secondly, a filter for filtering the fault of time-delay system is designed, an augmented system that includes the actuator and the sensor faults is proposed.
针对一类具有系统建模误差以及含传感器模型不确定项的非线性控制系统，本文提出了一种用于执行器故障检测与诊断的观测器方法。
Based on observer method, an algorithm of actuator fault detection and diagnosis is presented for a class of nonlinear control systems with system modeling errors and sensor modeling uncertainties.
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