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。
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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